On control mechanism of human-like reaching movements with musculo-skeletal redundancy

Kenji Tahara, Zhi Wei Luo, Suguru Arimoto

研究成果: 著書/レポートタイプへの貢献会議での発言

18 引用 (Scopus)

抄録

This paper focuses on a sensory-motor control mechanism in human reaching movements from the perspective of robotics. By formulating a musculo-skeletal redundant system which takes into account a nonlinear muscle property and performing numerical simulations, we suggest that the human-like reaching movements can be realized by using only simple task-space feedback scheme together with the internal force effect coming from nonlinear property of muscles without any complex mathematical computation such as an inverse dynamics or some optimal trajectory derivation. Firstly, we introduce both kinematics and dynamics of a three-link serial manipulator with six monoarticular muscles and three biarticular muscles model whose movements are limited within a horizontal plane. Secondly, the nonlinear muscle property coming from a physiological study based on Hill's muscle model, is taken into consideration. This nonlinearity makes it possible to modulate the damping effect in joint-space by considering the internal force generated by the redundant muscles. By utilizing this feature, the end-point converges to the desired point using only simple task-space feedback control scheme, even thought the system owns both the joint and muscle redundancies. Finally, we illustrate numerical simulations to show the effectiveness of the control scheme, and suggest one of the direction to study brain-motor control mechanism of human movements.

元の言語英語
ホスト出版物のタイトル2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
ページ1402-1409
ページ数8
DOI
出版物ステータス出版済み - 12 1 2006
外部発表Yes
イベント2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing, 中国
継続期間: 10 9 200610 15 2006

出版物シリーズ

名前IEEE International Conference on Intelligent Robots and Systems

その他

その他2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
中国
Beijing
期間10/9/0610/15/06

Fingerprint

Redundancy
Muscle
Computer simulation
Feedback control
Manipulators
Brain
Kinematics
Robotics
Damping
Trajectories
Feedback

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

これを引用

Tahara, K., Luo, Z. W., & Arimoto, S. (2006). On control mechanism of human-like reaching movements with musculo-skeletal redundancy. : 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 (pp. 1402-1409). [4058568] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2006.281931

On control mechanism of human-like reaching movements with musculo-skeletal redundancy. / Tahara, Kenji; Luo, Zhi Wei; Arimoto, Suguru.

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006. 2006. p. 1402-1409 4058568 (IEEE International Conference on Intelligent Robots and Systems).

研究成果: 著書/レポートタイプへの貢献会議での発言

Tahara, K, Luo, ZW & Arimoto, S 2006, On control mechanism of human-like reaching movements with musculo-skeletal redundancy. : 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006., 4058568, IEEE International Conference on Intelligent Robots and Systems, pp. 1402-1409, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006, Beijing, 中国, 10/9/06. https://doi.org/10.1109/IROS.2006.281931
Tahara K, Luo ZW, Arimoto S. On control mechanism of human-like reaching movements with musculo-skeletal redundancy. : 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006. 2006. p. 1402-1409. 4058568. (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2006.281931
Tahara, Kenji ; Luo, Zhi Wei ; Arimoto, Suguru. / On control mechanism of human-like reaching movements with musculo-skeletal redundancy. 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006. 2006. pp. 1402-1409 (IEEE International Conference on Intelligent Robots and Systems).
@inproceedings{f006b54b41fd4948a76d42d2d35a9a1f,
title = "On control mechanism of human-like reaching movements with musculo-skeletal redundancy",
abstract = "This paper focuses on a sensory-motor control mechanism in human reaching movements from the perspective of robotics. By formulating a musculo-skeletal redundant system which takes into account a nonlinear muscle property and performing numerical simulations, we suggest that the human-like reaching movements can be realized by using only simple task-space feedback scheme together with the internal force effect coming from nonlinear property of muscles without any complex mathematical computation such as an inverse dynamics or some optimal trajectory derivation. Firstly, we introduce both kinematics and dynamics of a three-link serial manipulator with six monoarticular muscles and three biarticular muscles model whose movements are limited within a horizontal plane. Secondly, the nonlinear muscle property coming from a physiological study based on Hill's muscle model, is taken into consideration. This nonlinearity makes it possible to modulate the damping effect in joint-space by considering the internal force generated by the redundant muscles. By utilizing this feature, the end-point converges to the desired point using only simple task-space feedback control scheme, even thought the system owns both the joint and muscle redundancies. Finally, we illustrate numerical simulations to show the effectiveness of the control scheme, and suggest one of the direction to study brain-motor control mechanism of human movements.",
author = "Kenji Tahara and Luo, {Zhi Wei} and Suguru Arimoto",
year = "2006",
month = "12",
day = "1",
doi = "10.1109/IROS.2006.281931",
language = "English",
isbn = "142440259X",
series = "IEEE International Conference on Intelligent Robots and Systems",
pages = "1402--1409",
booktitle = "2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006",

}

TY - GEN

T1 - On control mechanism of human-like reaching movements with musculo-skeletal redundancy

AU - Tahara, Kenji

AU - Luo, Zhi Wei

AU - Arimoto, Suguru

PY - 2006/12/1

Y1 - 2006/12/1

N2 - This paper focuses on a sensory-motor control mechanism in human reaching movements from the perspective of robotics. By formulating a musculo-skeletal redundant system which takes into account a nonlinear muscle property and performing numerical simulations, we suggest that the human-like reaching movements can be realized by using only simple task-space feedback scheme together with the internal force effect coming from nonlinear property of muscles without any complex mathematical computation such as an inverse dynamics or some optimal trajectory derivation. Firstly, we introduce both kinematics and dynamics of a three-link serial manipulator with six monoarticular muscles and three biarticular muscles model whose movements are limited within a horizontal plane. Secondly, the nonlinear muscle property coming from a physiological study based on Hill's muscle model, is taken into consideration. This nonlinearity makes it possible to modulate the damping effect in joint-space by considering the internal force generated by the redundant muscles. By utilizing this feature, the end-point converges to the desired point using only simple task-space feedback control scheme, even thought the system owns both the joint and muscle redundancies. Finally, we illustrate numerical simulations to show the effectiveness of the control scheme, and suggest one of the direction to study brain-motor control mechanism of human movements.

AB - This paper focuses on a sensory-motor control mechanism in human reaching movements from the perspective of robotics. By formulating a musculo-skeletal redundant system which takes into account a nonlinear muscle property and performing numerical simulations, we suggest that the human-like reaching movements can be realized by using only simple task-space feedback scheme together with the internal force effect coming from nonlinear property of muscles without any complex mathematical computation such as an inverse dynamics or some optimal trajectory derivation. Firstly, we introduce both kinematics and dynamics of a three-link serial manipulator with six monoarticular muscles and three biarticular muscles model whose movements are limited within a horizontal plane. Secondly, the nonlinear muscle property coming from a physiological study based on Hill's muscle model, is taken into consideration. This nonlinearity makes it possible to modulate the damping effect in joint-space by considering the internal force generated by the redundant muscles. By utilizing this feature, the end-point converges to the desired point using only simple task-space feedback control scheme, even thought the system owns both the joint and muscle redundancies. Finally, we illustrate numerical simulations to show the effectiveness of the control scheme, and suggest one of the direction to study brain-motor control mechanism of human movements.

UR - http://www.scopus.com/inward/record.url?scp=34250664203&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=34250664203&partnerID=8YFLogxK

U2 - 10.1109/IROS.2006.281931

DO - 10.1109/IROS.2006.281931

M3 - Conference contribution

AN - SCOPUS:34250664203

SN - 142440259X

SN - 9781424402595

T3 - IEEE International Conference on Intelligent Robots and Systems

SP - 1402

EP - 1409

BT - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006

ER -